Model predictive control with angular acceleration constraint of proportional servo-hydraulic lower extremity robotic device

Lower Extremity Robotic Device (LERD) is a four-degree of freedom hydraulic exoskeleton that assists the paralysed patient to walk. The nonlinear dynamic model of the hydraulic exoskeleton system used in Model Predictive Control (MPC) is challenging to be modelled, especially in the state-space mode...

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主要作者:	Onn, Nurfarahin
格式:	Thesis
語言:	英语
出版:	2021
主題:	TJ Mechanical engineering and machinery
在線閱讀:	http://eprints.utm.my/102388/1/NurfarahinOnnPhDSKM2021.pdf.pdf